SOEM  v1.4.0
Data Structures | Macros | Functions | Variables
ethercatmain.c File Reference

Main EtherCAT functions. More...

#include <stdio.h>
#include <string.h>
#include "osal.h"
#include "oshw.h"
#include "ethercat.h"

Data Structures

struct  ec_eepromt
 
struct  ec_mbxerrort
 
struct  ec_emcyt
 

Macros

#define EC_LOCALDELAY   200
 
#define MAX_FPRD_MULTI   64
 

Functions

ec_adaptert * ec_find_adapters (void)
 
void ec_free_adapters (ec_adaptert *adapter)
 
void ecx_pusherror (ecx_contextt *context, const ec_errort *Ec)
 
boolean ecx_poperror (ecx_contextt *context, ec_errort *Ec)
 
boolean ecx_iserror (ecx_contextt *context)
 
void ecx_packeterror (ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode)
 
static void ecx_mbxerror (ecx_contextt *context, uint16 Slave, uint16 Detail)
 
static void ecx_mbxemergencyerror (ecx_contextt *context, uint16 Slave, uint16 ErrorCode, uint16 ErrorReg, uint8 b1, uint16 w1, uint16 w2)
 
int ecx_init (ecx_contextt *context, const char *ifname)
 
int ecx_init_redundant (ecx_contextt *context, ecx_redportt *redport, const char *ifname, char *if2name)
 
void ecx_close (ecx_contextt *context)
 
uint8 ecx_siigetbyte (ecx_contextt *context, uint16 slave, uint16 address)
 
int16 ecx_siifind (ecx_contextt *context, uint16 slave, uint16 cat)
 
void ecx_siistring (ecx_contextt *context, char *str, uint16 slave, uint16 Sn)
 
uint16 ecx_siiFMMU (ecx_contextt *context, uint16 slave, ec_eepromFMMUt *FMMU)
 
uint16 ecx_siiSM (ecx_contextt *context, uint16 slave, ec_eepromSMt *SM)
 
uint16 ecx_siiSMnext (ecx_contextt *context, uint16 slave, ec_eepromSMt *SM, uint16 n)
 
int ecx_siiPDO (ecx_contextt *context, uint16 slave, ec_eepromPDOt *PDO, uint8 t)
 
int ecx_FPRD_multi (ecx_contextt *context, int n, uint16 *configlst, ec_alstatust *slstatlst, int timeout)
 
int ecx_readstate (ecx_contextt *context)
 
int ecx_writestate (ecx_contextt *context, uint16 slave)
 
uint16 ecx_statecheck (ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout)
 
uint8 ec_nextmbxcnt (uint8 cnt)
 
void ec_clearmbx (ec_mbxbuft *Mbx)
 
int ecx_mbxempty (ecx_contextt *context, uint16 slave, int timeout)
 
int ecx_mbxsend (ecx_contextt *context, uint16 slave, ec_mbxbuft *mbx, int timeout)
 
int ecx_mbxreceive (ecx_contextt *context, uint16 slave, ec_mbxbuft *mbx, int timeout)
 
void ecx_esidump (ecx_contextt *context, uint16 slave, uint8 *esibuf)
 
uint32 ecx_readeeprom (ecx_contextt *context, uint16 slave, uint16 eeproma, int timeout)
 
int ecx_writeeeprom (ecx_contextt *context, uint16 slave, uint16 eeproma, uint16 data, int timeout)
 
int ecx_eeprom2master (ecx_contextt *context, uint16 slave)
 
int ecx_eeprom2pdi (ecx_contextt *context, uint16 slave)
 
uint16 ecx_eeprom_waitnotbusyAP (ecx_contextt *context, uint16 aiadr, uint16 *estat, int timeout)
 
uint64 ecx_readeepromAP (ecx_contextt *context, uint16 aiadr, uint16 eeproma, int timeout)
 
int ecx_writeeepromAP (ecx_contextt *context, uint16 aiadr, uint16 eeproma, uint16 data, int timeout)
 
uint16 ecx_eeprom_waitnotbusyFP (ecx_contextt *context, uint16 configadr, uint16 *estat, int timeout)
 
uint64 ecx_readeepromFP (ecx_contextt *context, uint16 configadr, uint16 eeproma, int timeout)
 
int ecx_writeeepromFP (ecx_contextt *context, uint16 configadr, uint16 eeproma, uint16 data, int timeout)
 
void ecx_readeeprom1 (ecx_contextt *context, uint16 slave, uint16 eeproma)
 
uint32 ecx_readeeprom2 (ecx_contextt *context, uint16 slave, int timeout)
 
static void ecx_pushindex (ecx_contextt *context, uint8 idx, void *data, uint16 length)
 
static int ecx_pullindex (ecx_contextt *context)
 
static void ecx_clearindex (ecx_contextt *context)
 
static int ecx_main_send_processdata (ecx_contextt *context, uint8 group, boolean use_overlap_io)
 
int ecx_send_overlap_processdata_group (ecx_contextt *context, uint8 group)
 
int ecx_send_processdata_group (ecx_contextt *context, uint8 group)
 
int ecx_receive_processdata_group (ecx_contextt *context, uint8 group, int timeout)
 
int ecx_send_processdata (ecx_contextt *context)
 
int ecx_send_overlap_processdata (ecx_contextt *context)
 
int ecx_receive_processdata (ecx_contextt *context, int timeout)
 
void ec_pusherror (const ec_errort *Ec)
 
boolean ec_poperror (ec_errort *Ec)
 
boolean ec_iserror (void)
 
void ec_packeterror (uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode)
 
int ec_init (const char *ifname)
 
int ec_init_redundant (const char *ifname, char *if2name)
 
void ec_close (void)
 
uint8 ec_siigetbyte (uint16 slave, uint16 address)
 
int16 ec_siifind (uint16 slave, uint16 cat)
 
void ec_siistring (char *str, uint16 slave, uint16 Sn)
 
uint16 ec_siiFMMU (uint16 slave, ec_eepromFMMUt *FMMU)
 
uint16 ec_siiSM (uint16 slave, ec_eepromSMt *SM)
 
uint16 ec_siiSMnext (uint16 slave, ec_eepromSMt *SM, uint16 n)
 
int ec_siiPDO (uint16 slave, ec_eepromPDOt *PDO, uint8 t)
 
int ec_readstate (void)
 
int ec_writestate (uint16 slave)
 
uint16 ec_statecheck (uint16 slave, uint16 reqstate, int timeout)
 
int ec_mbxempty (uint16 slave, int timeout)
 
int ec_mbxsend (uint16 slave, ec_mbxbuft *mbx, int timeout)
 
int ec_mbxreceive (uint16 slave, ec_mbxbuft *mbx, int timeout)
 
void ec_esidump (uint16 slave, uint8 *esibuf)
 
uint32 ec_readeeprom (uint16 slave, uint16 eeproma, int timeout)
 
int ec_writeeeprom (uint16 slave, uint16 eeproma, uint16 data, int timeout)
 
int ec_eeprom2master (uint16 slave)
 
int ec_eeprom2pdi (uint16 slave)
 
uint16 ec_eeprom_waitnotbusyAP (uint16 aiadr, uint16 *estat, int timeout)
 
uint64 ec_readeepromAP (uint16 aiadr, uint16 eeproma, int timeout)
 
int ec_writeeepromAP (uint16 aiadr, uint16 eeproma, uint16 data, int timeout)
 
uint16 ec_eeprom_waitnotbusyFP (uint16 configadr, uint16 *estat, int timeout)
 
uint64 ec_readeepromFP (uint16 configadr, uint16 eeproma, int timeout)
 
int ec_writeeepromFP (uint16 configadr, uint16 eeproma, uint16 data, int timeout)
 
void ec_readeeprom1 (uint16 slave, uint16 eeproma)
 
uint32 ec_readeeprom2 (uint16 slave, int timeout)
 
int ec_send_processdata_group (uint8 group)
 
int ec_send_overlap_processdata_group (uint8 group)
 
int ec_receive_processdata_group (uint8 group, int timeout)
 
int ec_send_processdata (void)
 
int ec_send_overlap_processdata (void)
 
int ec_receive_processdata (int timeout)
 

Variables

PACKED_END ec_slavet ec_slave [EC_MAXSLAVE]
 
int ec_slavecount
 
ec_groupt ec_group [EC_MAXGROUP]
 
static uint8 ec_esibuf [EC_MAXEEPBUF]
 
static uint32 ec_esimap [EC_MAXEEPBITMAP]
 
static ec_eringt ec_elist
 
static ec_idxstackT ec_idxstack
 
static ec_SMcommtypet ec_SMcommtype [EC_MAX_MAPT]
 
static ec_PDOassignt ec_PDOassign [EC_MAX_MAPT]
 
static ec_PDOdesct ec_PDOdesc [EC_MAX_MAPT]
 
static ec_eepromSMt ec_SM
 
static ec_eepromFMMUt ec_FMMU
 
boolean EcatError = FALSE
 
int64 ec_DCtime
 
ecx_portt ecx_port
 
ecx_redportt ecx_redport
 
ecx_contextt ecx_context
 

Detailed Description

Main EtherCAT functions.

Initialisation, state set and read, mailbox primitives, EEPROM primitives, SII reading and processdata exchange.

Defines ec_slave[]. All slave information is put in this structure. Needed for most user interaction with slaves.

Macro Definition Documentation

◆ EC_LOCALDELAY

#define EC_LOCALDELAY   200

delay in us for eeprom ready loop

◆ MAX_FPRD_MULTI

#define MAX_FPRD_MULTI   64

Function Documentation

◆ ec_clearmbx()

void ec_clearmbx ( ec_mbxbuft Mbx)

Clear mailbox buffer.

Parameters
[out]Mbx= Mailbox buffer to clear

◆ ec_close()

void ec_close ( void  )

Close lib.

See also
ecx_close

◆ ec_eeprom2master()

int ec_eeprom2master ( uint16  slave)

Set eeprom control to master. Only if set to PDI.

Parameters
[in]slave= Slave number
Returns
>0 if OK
See also
ecx_eeprom2master

◆ ec_eeprom2pdi()

int ec_eeprom2pdi ( uint16  slave)

◆ ec_eeprom_waitnotbusyAP()

uint16 ec_eeprom_waitnotbusyAP ( uint16  aiadr,
uint16 *  estat,
int  timeout 
)

◆ ec_eeprom_waitnotbusyFP()

uint16 ec_eeprom_waitnotbusyFP ( uint16  configadr,
uint16 *  estat,
int  timeout 
)

◆ ec_esidump()

void ec_esidump ( uint16  slave,
uint8 *  esibuf 
)

Dump complete EEPROM data from slave in buffer.

Parameters
[in]slave= Slave number
[out]esibuf= EEPROM data buffer, make sure it is big enough.
See also
ecx_esidump

◆ ec_find_adapters()

ec_adaptert* ec_find_adapters ( void  )

Create list over available network adapters.

Returns
First element in list over available network adapters.

◆ ec_free_adapters()

void ec_free_adapters ( ec_adaptert *  adapter)

Free dynamically allocated list over available network adapters.

Parameters
[in]adapter= Struct holding adapter name, description and pointer to next.

◆ ec_init()

int ec_init ( const char *  ifname)

Initialise lib in single NIC mode

Parameters
[in]ifname= Dev name, f.e. "eth0"
Returns
>0 if OK
See also
ecx_init

◆ ec_init_redundant()

int ec_init_redundant ( const char *  ifname,
char *  if2name 
)

Initialise lib in redundant NIC mode

Parameters
[in]ifname= Primary Dev name, f.e. "eth0"
[in]if2name= Secondary Dev name, f.e. "eth1"
Returns
>0 if OK
See also
ecx_init_redundant

◆ ec_iserror()

boolean ec_iserror ( void  )

◆ ec_mbxempty()

int ec_mbxempty ( uint16  slave,
int  timeout 
)

Check if IN mailbox of slave is empty.

Parameters
[in]slave= Slave number
[in]timeout= Timeout in us
Returns
>0 is success
See also
ecx_mbxempty

◆ ec_mbxreceive()

int ec_mbxreceive ( uint16  slave,
ec_mbxbuft mbx,
int  timeout 
)

Read OUT mailbox from slave. Supports Mailbox Link Layer with repeat requests.

Parameters
[in]slave= Slave number
[out]mbx= Mailbox data
[in]timeout= Timeout in us
Returns
Work counter (>0 is success)
See also
ecx_mbxreceive

◆ ec_mbxsend()

int ec_mbxsend ( uint16  slave,
ec_mbxbuft mbx,
int  timeout 
)

Write IN mailbox to slave.

Parameters
[in]slave= Slave number
[out]mbx= Mailbox data
[in]timeout= Timeout in us
Returns
Work counter (>0 is success)
See also
ecx_mbxsend

◆ ec_nextmbxcnt()

uint8 ec_nextmbxcnt ( uint8  cnt)

Get index of next mailbox counter value. Used for Mailbox Link Layer.

Parameters
[in]cnt= Mailbox counter value [0..7]
Returns
next mailbox counter value

◆ ec_packeterror()

void ec_packeterror ( uint16  Slave,
uint16  Index,
uint8  SubIdx,
uint16  ErrorCode 
)

◆ ec_poperror()

boolean ec_poperror ( ec_errort Ec)

◆ ec_pusherror()

void ec_pusherror ( const ec_errort Ec)

◆ ec_readeeprom()

uint32 ec_readeeprom ( uint16  slave,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache.

Parameters
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns
EEPROM data 32bit
See also
ecx_readeeprom

◆ ec_readeeprom1()

void ec_readeeprom1 ( uint16  slave,
uint16  eeproma 
)

Read EEPROM from slave bypassing cache. Parallel read step 1, make request to slave.

Parameters
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM
See also
ecx_readeeprom1

◆ ec_readeeprom2()

uint32 ec_readeeprom2 ( uint16  slave,
int  timeout 
)

Read EEPROM from slave bypassing cache. Parallel read step 2, actual read from slave.

Parameters
[in]slave= Slave number
[in]timeout= Timeout in us.
Returns
EEPROM data 32bit
See also
ecx_readeeprom2

◆ ec_readeepromAP()

uint64 ec_readeepromAP ( uint16  aiadr,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache. APRD method.

Parameters
[in]aiadr= auto increment address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns
EEPROM data 64bit or 32bit

◆ ec_readeepromFP()

uint64 ec_readeepromFP ( uint16  configadr,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache. FPRD method.

Parameters
[in]configadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns
EEPROM data 64bit or 32bit
See also
ecx_readeepromFP

◆ ec_readstate()

int ec_readstate ( void  )

Read all slave states in ec_slave.

Returns
lowest state found
See also
ecx_readstate

◆ ec_receive_processdata()

int ec_receive_processdata ( int  timeout)

◆ ec_receive_processdata_group()

int ec_receive_processdata_group ( uint8  group,
int  timeout 
)

Receive processdata from slaves. Second part from ec_send_processdata(). Received datagrams are recombined with the processdata with help from the stack. If a datagram contains input processdata it copies it to the processdata structure.

Parameters
[in]group= group number
[in]timeout= Timeout in us.
Returns
Work counter.
See also
ecx_receive_processdata_group

◆ ec_send_overlap_processdata()

int ec_send_overlap_processdata ( void  )

◆ ec_send_overlap_processdata_group()

int ec_send_overlap_processdata_group ( uint8  group)

Transmit processdata to slaves. Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted in the overlapped IOmap. The outputs with the actual data, the inputs replace the output data in the returning frame. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters
[in]group= group number
Returns
>0 if processdata is transmitted.
See also
ecx_send_overlap_processdata_group

◆ ec_send_processdata()

int ec_send_processdata ( void  )

◆ ec_send_processdata_group()

int ec_send_processdata_group ( uint8  group)

Transmit processdata to slaves. Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted. The outputs with the actual data, the inputs have a placeholder. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters
[in]group= group number
Returns
>0 if processdata is transmitted.
See also
ecx_send_processdata_group

◆ ec_siifind()

int16 ec_siifind ( uint16  slave,
uint16  cat 
)

Find SII section header in slave EEPROM.

Parameters
[in]slave= slave number
[in]cat= section category
Returns
byte address of section at section length entry, if not available then 0
See also
ecx_siifind

◆ ec_siiFMMU()

uint16 ec_siiFMMU ( uint16  slave,
ec_eepromFMMUt FMMU 
)

Get FMMU data from SII FMMU section in slave EEPROM.

Parameters
[in]slave= slave number
[out]FMMU= FMMU struct from SII, max. 4 FMMU's
Returns
number of FMMU's defined in section
See also
ecx_siiFMMU

◆ ec_siigetbyte()

uint8 ec_siigetbyte ( uint16  slave,
uint16  address 
)

Read one byte from slave EEPROM via cache. If the cache location is empty then a read request is made to the slave. Depending on the slave capabillities the request is 4 or 8 bytes.

Parameters
[in]slave= slave number
[in]address= eeprom address in bytes (slave uses words)
Returns
requested byte, if not available then 0xff
See also
ecx_siigetbyte

◆ ec_siiPDO()

int ec_siiPDO ( uint16  slave,
ec_eepromPDOt PDO,
uint8  t 
)

Get PDO data from SII PDO section in slave EEPROM.

Parameters
[in]slave= slave number
[out]PDO= PDO struct from SII
[in]t= 0=RXPDO 1=TXPDO
Returns
mapping size in bits of PDO
See also
ecx_siiPDO

◆ ec_siiSM()

uint16 ec_siiSM ( uint16  slave,
ec_eepromSMt SM 
)

Get SM data from SII SM section in slave EEPROM.

Parameters
[in]slave= slave number
[out]SM= first SM struct from SII
Returns
number of SM's defined in section
See also
ecx_siiSM

◆ ec_siiSMnext()

uint16 ec_siiSMnext ( uint16  slave,
ec_eepromSMt SM,
uint16  n 
)

Get next SM data from SII SM section in slave EEPROM.

Parameters
[in]slave= slave number
[out]SM= first SM struct from SII
[in]n= SM number
Returns
>0 if OK
See also
ecx_siiSMnext

◆ ec_siistring()

void ec_siistring ( char *  str,
uint16  slave,
uint16  Sn 
)

Get string from SII string section in slave EEPROM.

Parameters
[out]str= requested string, 0x00 if not found
[in]slave= slave number
[in]Sn= string number
See also
ecx_siistring

◆ ec_statecheck()

uint16 ec_statecheck ( uint16  slave,
uint16  reqstate,
int  timeout 
)

Check actual slave state. This is a blocking function.

Parameters
[in]slave= Slave number, 0 = all slaves
[in]reqstate= Requested state
[in]timeout= Timeout value in us
Returns
Requested state, or found state after timeout.
See also
ecx_statecheck

◆ ec_writeeeprom()

int ec_writeeeprom ( uint16  slave,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache.

Parameters
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns
>0 if OK
See also
ecx_writeeeprom

◆ ec_writeeepromAP()

int ec_writeeepromAP ( uint16  aiadr,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache. APWR method.

Parameters
[in]aiadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns
>0 if OK
See also
ecx_writeeepromAP

◆ ec_writeeepromFP()

int ec_writeeepromFP ( uint16  configadr,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache. FPWR method.

Parameters
[in]configadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns
>0 if OK
See also
ecx_writeeepromFP

◆ ec_writestate()

int ec_writestate ( uint16  slave)

Write slave state, if slave = 0 then write to all slaves. The function does not check if the actual state is changed.

Parameters
[in]slave= Slave number, 0 = master
Returns
0
See also
ecx_writestate

◆ ecx_clearindex()

static void ecx_clearindex ( ecx_contextt *  context)
static

Clear the idx stack.

Parameters
context= context struct

◆ ecx_close()

void ecx_close ( ecx_contextt *  context)

Close lib.

Parameters
[in]context= context struct

◆ ecx_eeprom2master()

int ecx_eeprom2master ( ecx_contextt *  context,
uint16  slave 
)

Set eeprom control to master. Only if set to PDI.

Parameters
[in]context= context struct
[in]slave= Slave number
Returns
>0 if OK

◆ ecx_eeprom2pdi()

int ecx_eeprom2pdi ( ecx_contextt *  context,
uint16  slave 
)

Set eeprom control to PDI. Only if set to master.

Parameters
[in]context= context struct
[in]slave= Slave number
Returns
>0 if OK

◆ ecx_eeprom_waitnotbusyAP()

uint16 ecx_eeprom_waitnotbusyAP ( ecx_contextt *  context,
uint16  aiadr,
uint16 *  estat,
int  timeout 
)

◆ ecx_eeprom_waitnotbusyFP()

uint16 ecx_eeprom_waitnotbusyFP ( ecx_contextt *  context,
uint16  configadr,
uint16 *  estat,
int  timeout 
)

◆ ecx_esidump()

void ecx_esidump ( ecx_contextt *  context,
uint16  slave,
uint8 *  esibuf 
)

Dump complete EEPROM data from slave in buffer.

Parameters
[in]context= context struct
[in]slave= Slave number
[out]esibuf= EEPROM data buffer, make sure it is big enough.

◆ ecx_FPRD_multi()

int ecx_FPRD_multi ( ecx_contextt *  context,
int  n,
uint16 *  configlst,
ec_alstatust slstatlst,
int  timeout 
)

◆ ecx_init()

int ecx_init ( ecx_contextt *  context,
const char *  ifname 
)

Initialise lib in single NIC mode

Parameters
[in]context= context struct
[in]ifname= Dev name, f.e. "eth0"
Returns
>0 if OK

◆ ecx_init_redundant()

int ecx_init_redundant ( ecx_contextt *  context,
ecx_redportt *  redport,
const char *  ifname,
char *  if2name 
)

Initialise lib in redundant NIC mode

Parameters
[in]context= context struct
[in]redport= pointer to redport, redundant port data
[in]ifname= Primary Dev name, f.e. "eth0"
[in]if2name= Secondary Dev name, f.e. "eth1"
Returns
>0 if OK

◆ ecx_iserror()

boolean ecx_iserror ( ecx_contextt *  context)

Check if error list has entries.

Parameters
[in]context= context struct
Returns
TRUE if error list contains entries.

◆ ecx_main_send_processdata()

static int ecx_main_send_processdata ( ecx_contextt *  context,
uint8  group,
boolean  use_overlap_io 
)
static

Transmit processdata to slaves. Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted. The outputs with the actual data, the inputs have a placeholder. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters
[in]context= context struct
[in]group= group number
[in]use_overlap_io= flag if overlapped iomap is used
Returns
>0 if processdata is transmitted.

◆ ecx_mbxemergencyerror()

static void ecx_mbxemergencyerror ( ecx_contextt *  context,
uint16  Slave,
uint16  ErrorCode,
uint16  ErrorReg,
uint8  b1,
uint16  w1,
uint16  w2 
)
static

Report Mailbox Emergency Error

Parameters
[in]context= context struct
[in]Slave= Slave number
[in]ErrorCode= Following EtherCAT specification
[in]ErrorReg
[in]b1
[in]w1
[in]w2

◆ ecx_mbxempty()

int ecx_mbxempty ( ecx_contextt *  context,
uint16  slave,
int  timeout 
)

Check if IN mailbox of slave is empty.

Parameters
[in]context= context struct
[in]slave= Slave number
[in]timeout= Timeout in us
Returns
>0 is success

◆ ecx_mbxerror()

static void ecx_mbxerror ( ecx_contextt *  context,
uint16  Slave,
uint16  Detail 
)
static

Report Mailbox Error

Parameters
[in]context= context struct
[in]Slave= Slave number
[in]Detail= Following EtherCAT specification

◆ ecx_mbxreceive()

int ecx_mbxreceive ( ecx_contextt *  context,
uint16  slave,
ec_mbxbuft mbx,
int  timeout 
)

Read OUT mailbox from slave. Supports Mailbox Link Layer with repeat requests.

Parameters
[in]context= context struct
[in]slave= Slave number
[out]mbx= Mailbox data
[in]timeout= Timeout in us
Returns
Work counter (>0 is success)

◆ ecx_mbxsend()

int ecx_mbxsend ( ecx_contextt *  context,
uint16  slave,
ec_mbxbuft mbx,
int  timeout 
)

Write IN mailbox to slave.

Parameters
[in]context= context struct
[in]slave= Slave number
[out]mbx= Mailbox data
[in]timeout= Timeout in us
Returns
Work counter (>0 is success)

◆ ecx_packeterror()

void ecx_packeterror ( ecx_contextt *  context,
uint16  Slave,
uint16  Index,
uint8  SubIdx,
uint16  ErrorCode 
)

Report packet error

Parameters
[in]context= context struct
[in]Slave= Slave number
[in]Index= Index that generated error
[in]SubIdx= Subindex that generated error
[in]ErrorCode= Error code

◆ ecx_poperror()

boolean ecx_poperror ( ecx_contextt *  context,
ec_errort Ec 
)

Pops an error from the list.

Parameters
[in]context= context struct
[out]Ec= Struct describing the error.
Returns
TRUE if an error was popped.

◆ ecx_pullindex()

static int ecx_pullindex ( ecx_contextt *  context)
static

Pull index of segmented LRD/LWR/LRW combination.

Parameters
[in]context= context struct
Returns
Stack location, -1 if stack is empty.

◆ ecx_pusherror()

void ecx_pusherror ( ecx_contextt *  context,
const ec_errort Ec 
)

Pushes an error on the error list.

Parameters
[in]context= context struct
[in]Ecpointer describing the error.

◆ ecx_pushindex()

static void ecx_pushindex ( ecx_contextt *  context,
uint8  idx,
void *  data,
uint16  length 
)
static

Push index of segmented LRD/LWR/LRW combination.

Parameters
[in]context= context struct
[in]idx= Used datagram index.
[in]data= Pointer to process data segment.
[in]length= Length of data segment in bytes.

◆ ecx_readeeprom()

uint32 ecx_readeeprom ( ecx_contextt *  context,
uint16  slave,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache.

Parameters
[in]context= context struct
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns
EEPROM data 32bit

◆ ecx_readeeprom1()

void ecx_readeeprom1 ( ecx_contextt *  context,
uint16  slave,
uint16  eeproma 
)

Read EEPROM from slave bypassing cache. Parallel read step 1, make request to slave.

Parameters
[in]context= context struct
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM

◆ ecx_readeeprom2()

uint32 ecx_readeeprom2 ( ecx_contextt *  context,
uint16  slave,
int  timeout 
)

Read EEPROM from slave bypassing cache. Parallel read step 2, actual read from slave.

Parameters
[in]context= context struct
[in]slave= Slave number
[in]timeout= Timeout in us.
Returns
EEPROM data 32bit

◆ ecx_readeepromAP()

uint64 ecx_readeepromAP ( ecx_contextt *  context,
uint16  aiadr,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache. APRD method.

Parameters
[in]context= context struct
[in]aiadr= auto increment address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns
EEPROM data 64bit or 32bit

◆ ecx_readeepromFP()

uint64 ecx_readeepromFP ( ecx_contextt *  context,
uint16  configadr,
uint16  eeproma,
int  timeout 
)

Read EEPROM from slave bypassing cache. FPRD method.

Parameters
[in]context= context struct
[in]configadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]timeout= Timeout in us.
Returns
EEPROM data 64bit or 32bit

◆ ecx_readstate()

int ecx_readstate ( ecx_contextt *  context)

Read all slave states in ec_slave.

Parameters
[in]context= context struct
Returns
lowest state found

◆ ecx_receive_processdata()

int ecx_receive_processdata ( ecx_contextt *  context,
int  timeout 
)

◆ ecx_receive_processdata_group()

int ecx_receive_processdata_group ( ecx_contextt *  context,
uint8  group,
int  timeout 
)

Receive processdata from slaves. Second part from ec_send_processdata(). Received datagrams are recombined with the processdata with help from the stack. If a datagram contains input processdata it copies it to the processdata structure.

Parameters
[in]context= context struct
[in]group= group number
[in]timeout= Timeout in us.
Returns
Work counter.

◆ ecx_send_overlap_processdata()

int ecx_send_overlap_processdata ( ecx_contextt *  context)

◆ ecx_send_overlap_processdata_group()

int ecx_send_overlap_processdata_group ( ecx_contextt *  context,
uint8  group 
)

Transmit processdata to slaves. Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted in the overlapped IOmap. The outputs with the actual data, the inputs replace the output data in the returning frame. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters
[in]context= context struct
[in]group= group number
Returns
>0 if processdata is transmitted.

◆ ecx_send_processdata()

int ecx_send_processdata ( ecx_contextt *  context)

◆ ecx_send_processdata_group()

int ecx_send_processdata_group ( ecx_contextt *  context,
uint8  group 
)

Transmit processdata to slaves. Uses LRW, or LRD/LWR if LRW is not allowed (blockLRW). Both the input and output processdata are transmitted. The outputs with the actual data, the inputs have a placeholder. The inputs are gathered with the receive processdata function. In contrast to the base LRW function this function is non-blocking. If the processdata does not fit in one datagram, multiple are used. In order to recombine the slave response, a stack is used.

Parameters
[in]context= context struct
[in]group= group number
Returns
>0 if processdata is transmitted.

◆ ecx_siifind()

int16 ecx_siifind ( ecx_contextt *  context,
uint16  slave,
uint16  cat 
)

Find SII section header in slave EEPROM.

Parameters
[in]context= context struct
[in]slave= slave number
[in]cat= section category
Returns
byte address of section at section length entry, if not available then 0

◆ ecx_siiFMMU()

uint16 ecx_siiFMMU ( ecx_contextt *  context,
uint16  slave,
ec_eepromFMMUt FMMU 
)

Get FMMU data from SII FMMU section in slave EEPROM.

Parameters
[in]context= context struct
[in]slave= slave number
[out]FMMU= FMMU struct from SII, max. 4 FMMU's
Returns
number of FMMU's defined in section

◆ ecx_siigetbyte()

uint8 ecx_siigetbyte ( ecx_contextt *  context,
uint16  slave,
uint16  address 
)

Read one byte from slave EEPROM via cache. If the cache location is empty then a read request is made to the slave. Depending on the slave capabilities the request is 4 or 8 bytes.

Parameters
[in]context= context struct
[in]slave= slave number
[in]address= eeprom address in bytes (slave uses words)
Returns
requested byte, if not available then 0xff

◆ ecx_siiPDO()

int ecx_siiPDO ( ecx_contextt *  context,
uint16  slave,
ec_eepromPDOt PDO,
uint8  t 
)

Get PDO data from SII PDO section in slave EEPROM.

Parameters
[in]context= context struct
[in]slave= slave number
[out]PDO= PDO struct from SII
[in]t= 0=RXPDO 1=TXPDO
Returns
mapping size in bits of PDO

◆ ecx_siiSM()

uint16 ecx_siiSM ( ecx_contextt *  context,
uint16  slave,
ec_eepromSMt SM 
)

Get SM data from SII SM section in slave EEPROM.

Parameters
[in]context= context struct
[in]slave= slave number
[out]SM= first SM struct from SII
Returns
number of SM's defined in section

◆ ecx_siiSMnext()

uint16 ecx_siiSMnext ( ecx_contextt *  context,
uint16  slave,
ec_eepromSMt SM,
uint16  n 
)

Get next SM data from SII SM section in slave EEPROM.

Parameters
[in]context= context struct
[in]slave= slave number
[out]SM= first SM struct from SII
[in]n= SM number
Returns
>0 if OK

◆ ecx_siistring()

void ecx_siistring ( ecx_contextt *  context,
char *  str,
uint16  slave,
uint16  Sn 
)

Get string from SII string section in slave EEPROM.

Parameters
[in]context= context struct
[out]str= requested string, 0x00 if not found
[in]slave= slave number
[in]Sn= string number

◆ ecx_statecheck()

uint16 ecx_statecheck ( ecx_contextt *  context,
uint16  slave,
uint16  reqstate,
int  timeout 
)

Check actual slave state. This is a blocking function. To refresh the state of all slaves ecx_readstate()should be called

Parameters
[in]context= context struct
[in]slave= Slave number, 0 = all slaves (only the "slavelist[0].state" is refreshed)
[in]reqstate= Requested state
[in]timeout= Timeout value in us
Returns
Requested state, or found state after timeout.

◆ ecx_writeeeprom()

int ecx_writeeeprom ( ecx_contextt *  context,
uint16  slave,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache.

Parameters
[in]context= context struct
[in]slave= Slave number
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns
>0 if OK

◆ ecx_writeeepromAP()

int ecx_writeeepromAP ( ecx_contextt *  context,
uint16  aiadr,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache. APWR method.

Parameters
[in]context= context struct
[in]aiadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns
>0 if OK

◆ ecx_writeeepromFP()

int ecx_writeeepromFP ( ecx_contextt *  context,
uint16  configadr,
uint16  eeproma,
uint16  data,
int  timeout 
)

Write EEPROM to slave bypassing cache. FPWR method.

Parameters
[in]context= context struct
[in]configadr= configured address of slave
[in]eeproma= (WORD) Address in the EEPROM
[in]data= 16bit data
[in]timeout= Timeout in us.
Returns
>0 if OK

◆ ecx_writestate()

int ecx_writestate ( ecx_contextt *  context,
uint16  slave 
)

Write slave state, if slave = 0 then write to all slaves. The function does not check if the actual state is changed.

Parameters
[in]context= context struct
[in]slave= Slave number, 0 = master
Returns
Workcounter or EC_NOFRAME

Variable Documentation

◆ ec_DCtime

int64 ec_DCtime

◆ ec_elist

ec_eringt ec_elist
static

current slave for EEPROM cache buffer

◆ ec_esibuf

uint8 ec_esibuf[EC_MAXEEPBUF]
static

cache for EEPROM read functions

◆ ec_esimap

uint32 ec_esimap[EC_MAXEEPBITMAP]
static

bitmap for filled cache buffer bytes

◆ ec_FMMU

ec_eepromFMMUt ec_FMMU
static

buffer for EEPROM FMMU data

◆ ec_group

slave group structure

◆ ec_idxstack

ec_idxstackT ec_idxstack
static

◆ ec_PDOassign

ec_PDOassignt ec_PDOassign[EC_MAX_MAPT]
static

PDO assign struct to store data of one slave

◆ ec_PDOdesc

ec_PDOdesct ec_PDOdesc[EC_MAX_MAPT]
static

PDO description struct to store data of one slave

◆ ec_slave

PACKED_END ec_slavet ec_slave[EC_MAXSLAVE]

Main slave data array. Each slave found on the network gets its own record. ec_slave[0] is reserved for the master. Structure gets filled in by the configuration function ec_config().

◆ ec_slavecount

int ec_slavecount

number of slaves found on the network

◆ ec_SM

ec_eepromSMt ec_SM
static

buffer for EEPROM SM data

◆ ec_SMcommtype

ec_SMcommtypet ec_SMcommtype[EC_MAX_MAPT]
static

SyncManager Communication Type struct to store data of one slave

◆ EcatError

boolean EcatError = FALSE

Global variable TRUE if error available in error stack

◆ ecx_context

ecx_contextt ecx_context
Initial value:
= {
&ec_slave[0],
&ec_group[0],
&ec_esibuf[0],
&ec_esimap[0],
0,
0,
0,
&ec_PDOdesc[0],
&ec_SM,
NULL,
NULL,
0
}
ec_groupt ec_group[EC_MAXGROUP]
Definition: ethercatmain.c:71
static uint32 ec_esimap[EC_MAXEEPBITMAP]
Definition: ethercatmain.c:76
#define EC_MAXGROUP
Definition: ethercatmain.h:27
PACKED_END ec_slavet ec_slave[EC_MAXSLAVE]
Definition: ethercatmain.c:67
int64 ec_DCtime
Definition: ethercatmain.c:95
static ec_PDOassignt ec_PDOassign[EC_MAX_MAPT]
Definition: ethercatmain.c:84
static ec_eepromFMMUt ec_FMMU
Definition: ethercatmain.c:91
ecx_portt ecx_port
Definition: ethercatmain.c:97
static ec_SMcommtypet ec_SMcommtype[EC_MAX_MAPT]
Definition: ethercatmain.c:82
boolean EcatError
Definition: ethercatmain.c:93
static ec_eepromSMt ec_SM
Definition: ethercatmain.c:89
static ec_PDOdesct ec_PDOdesc[EC_MAX_MAPT]
Definition: ethercatmain.c:86
static ec_idxstackT ec_idxstack
Definition: ethercatmain.c:79
#define EC_MAXSLAVE
Definition: ethercatmain.h:25
int ec_slavecount
Definition: ethercatmain.c:69
static ec_eringt ec_elist
Definition: ethercatmain.c:78
static uint8 ec_esibuf[EC_MAXEEPBUF]
Definition: ethercatmain.c:74

◆ ecx_port

ecx_portt ecx_port

◆ ecx_redport

ecx_redportt ecx_redport